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Primitive Description and Usage

• Description: This primitive moves the robot to the default home position by joint movement.

• Example Usage: Use this primitive to reset the robot’s pose at the initial setup, to reset the robot’s pose at the end of a plan, or to reset the robot’s pose after recovering from some faults.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
target	Target joint position	JPOS	deg	0.0 -40.0 0.0 90.0 0.0 40.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
jntVelScale	Robot joint velocity scale. The robot joints will move at full speed when this value is set to 100.	INT	none	20 ∈ [1 … 100]
jntAccMultiplier	The actual joint acceleration is equal to the reference joint acceleration multiplied by this parameter. The larger the value of this parameter, the larger the value of the actual joint acceleration.	DOUBLE	none	1.0 ∈ [1.0 … 4.0]

*Robot Joint Position Description

• The complete description of a joint waypoint (JPOS) is: A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the joint positions of the robot; X1 to X6 are the positions of external axes. You can only set the robot joint positions if external axes do not exist. For example: {jnt_def_1}.

• Add “:” to separate the waypoints. For example: {jnt_def_2}.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	Flag to indicate whether the primitive is terminated. It is set to TRUE if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
reachedTarget	Flag to indicate whether the robot has reached the target	BOOL	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
reachedTarget	=	1

Hold

Primitive Description and Usage

• Description: This primitive holds the robot at its current position.

• Example Usage: Use this primitive to put the robot on standby.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	Flag to indicate whether the primitive is terminated. It is set to TRUE if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
timePeriod	>	1.0

Subplan

Primitive Description and Usage

• Description: This primitive creates an empty subplan, allowing you to implement customized workflow between nodes.

• Example Usage: Use this primitive to create a subplan for more advanced workflow control.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
targetLoopCnt	The target loop count of subplan execution. 0 means that the subplan will be skipped.	INT	none	1 ∈ [0 … ]
enableForceLimit	Enable force limit check. The system triggers software fault if the robot reached the specified TCP force limit.	BOOL	none	0 ∈ [0 / 1]
forceLimit	Maximum TCP force limit for the current subplan and its subplans.	DOUBLE	N	500 ∈ [0 … 500]
enableJntTrqLimit	Enable joint torque limit check. The system triggers software fault if the robot’s joint torque reaches the set limit.	BOOL	none	0 ∈ [0 / 1]
jntTrqLimit	Joint torque limit for the current subplan and its subplans.	VEC_7d	Nm	200 200 200 200 200 200 200 ∈ [0 0 0 0 0 0 0 … 200 200 200 200 200 200 200]

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	Flag to indicate whether the primitive is terminated. It is set to TRUE if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
loopCnt	The loop count of subplan execution. This value increments by 1 each time the subplan runs to the start node.	INT	none

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
terminated	=	1

GoTo

Primitive Description and Usage

• Description: This primitive directly jumps to a specified node in the same plan. You must specify the target node name in the input parameter.

• Example Usage: Use this primitive to jump to other nodes in a plan, especially if the target node is far away from the current node on the UI and is difficult to view through a wired connection.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
nodeName*	Name of the node that will be redirected to in the plan	STRING	none

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	Flag to indicate whether the primitive is terminated. It is set to TRUE if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Fault

Primitive Description and Usage

• Description: This primitive triggers software fault and displays customized error messages on the UI.

• Example Usage: Use this primitive to intentionally trigger software faults during project execution to control the workflow. You can connect any primitive to this primitive and specify force or velocity limit as the transition condition. Once the force or velocity limit is triggered, the system will trigger software fault and stop the project execution.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
errorMessage	User-defined error message	MSG	none	A fault is triggered.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	Flag to indicate whether the primitive is terminated. It is set to TRUE if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Stop

Primitive Description and Usage

• Description: This primitive decelerates the robot to a stop within a certain time period if any other primitive is terminated but the robot is still moving. If a primitive in the Motion category (e.g. MoveJ, MoveL) jumps to Stop, the robot will stop along the desired trajectory; for the primitives in other categories, the robot may deviate from the desired trajectory. The difference between Stop and Hold: When the robot is moving, Stop decelerates the robot to a stop without triggering fault; Hold directly holds the robot in its current position but may trigger fault.

• Example Usage: Use this primitive when the robot is still moving but you want to bring the robot to a stop (e.g. when an I/O signal is triggered) before executing the next task.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	Flag to indicate whether the primitive is terminated. It is set to TRUE if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
terminated	=	1

End

Primitive Description and Usage

• Description: When the robot reaches this primitive, it immediately terminates the active plan and returns to its parent plan. If there is no parent plan, the assigned project will be terminated.

• Example Usage: Use this primitive at the end of the main plan or subplan.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	Flag to indicate whether the primitive is terminated. It is set to TRUE if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg